- 논문 (학술지) Development and evaluation of haltere-mimicking gyroscope for three-axis angular velocity sensing using a haltere-mimicking structure pair
※구분 : SCI(SCIE포함), 비SCI
|논문구분||국외전문학술지||학술지명||Bioinspiration & biomimetics|
|학술지 볼륨번호||18(1)||논문페이지||016003(1) ~ 016003(2)|
|학술지 임팩트팩터||2.985||기여율||25 %|
- AbstractThis paper presents a three-axis biomimetic gyroscope, mimicking the haltere of Diptera. Diptera use a club-shaped mechanosensory organ called the haltere to get the three-axis angular velocity information, namely roll, pitch and yaw axes, for flight control. One pair of halteres is physically connected to the wings of Diptera that vibrate in antiphase to the flapping wings in ambient air. They sense the Coriolis force and relay angular velocity information to the Diptera. As an alternative to the conventional micro-electro-mechanical system gyroscopes which are widely used in robotics, many research groups have attempted to mimic the haltere. However, no previous study succeeded in measuring all three-axis components of angular velocity, due to various shortcomings. In this paper, we developed the first three-axis haltere-mimicking gyroscope. Two perpendicularly positioned haltere-mimicking structures that can vibrate at a 180° amplitude were mechanically integrated into a robot actuator. Two accelerometers, placed at the tip of each structure, were employed to measure the Coriolis force. The performance of the novel biomimetic gyroscope was measured in all rotational directions, using a motion capture system as the ground truth. One-axis input experiments were performed 240 times at different input magnitudes and directions, and the measured orientation error was less than ±2.0% in all experiments. In 80 three-axis input experiments, the orientation error was less than ±3.5%.
☞ 성과발생연도 2021년 이후 논문은 조사분석 미확정 정보이며, 조사분석 확정시 기여율 등 일부 정보가 변경될 수 있습니다.
※ 연구개발성과 등록 또는 활용에 대한 문의는 논문 연구개발성과 담당자를 통해 문의하시기 바랍니다.
[문의] 한국과학기술정보연구원 Tel : 042)716-7066, https://curation.kisti.re.kr/
※ NTIS 관련 이용문의는 NTIS 콜센터(042-869-1115)로 문의하시기 바랍니다.